The Hybrid Glider/AUV Folaga

Caffaz, A.; Caiti, Andrea; Casalino, Giuseppe; Turetta, Alessio

doi:10.1109/mra.2010.935791

Cited by 73 publications

(38 citation statements)

References 17 publications

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“…Some hybrid types are developed to combine propellers with a buoyancy-driven mechanism to achieve higher speeds when needed. The products are either a hybrid glider like the hybrid Slocum or a hybrid long-endurance autonomous underwater vehicle (AUV) like the Folaga [8] or the Tethys [9] (Figure 1). …”

Section: Energy-efficient Platformsmentioning

confidence: 99%

Future Trends in Marine Robotics [TC Spotlight]

Zhang¹,

Marani²,

Smith³

et al. 2015

IEEE Robot. Automat. Mag.

131

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Section: Energy-efficient Platformsmentioning

confidence: 99%

Future Trends in Marine Robotics [TC Spotlight]

Zhang¹,

Marani²,

Smith³

et al. 2015

IEEE Robot. Automat. Mag.

131

View full text Add to dashboard Cite

“…In order to do so, they are designed with novel improvements to previous AUV classes, such as active buoyancy control, allowing them to sample processes at a desired depth without expending energy on propulsion. Two such examples of these AUVs are the Tethys [1] AUV built at MBARI, and which has active buoyancy control and utilizes custom energy saving strategies (such as power-down of motor controllers and non-essential systems), and the Folaga [2] AUV built by Graaltech, which similarly has active buoyancy control as well as an actuation mechanism that allows it to propel as a glider. We envision the use of this class of AUVs for long endurance multi AUV oceanographic sampling, and their emergence can be interpreted as an endorsement for the benefit of using swarms of AUVs for this purpose.…”

Section: Autonomous Underwater Vehiclesmentioning

confidence: 99%

Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles

Rypkema¹

2015

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Recent advances in autonomous underwater vehicle (AUV) technology have led to their widespread acceptance and adoption for use in scientific, commercial, and defence applications in the underwater domain. At the same time, research progress in swarm robotics has seen swarm intelligence algorithms in use with greater effect on real-world robots in the field. A group of AUVs utilizing swarm intelligence concepts has the potential to address issues more effectively than a single AUV, and such a group can potentially open up new areas of application. Examples include the monitoring and tracking of highly dynamic oceanographic phenomena such as phytoplankton blooms and the use of an AUV swarm as a virtual acoustic receiver for sea-bottom seismic surveying or the monitoring of naturally occurring acoustic radiation from cracking ice. However, the limitations of the undersea environment places unique constraints on the use of existing swarm robotics approaches with AUVs. In particular, algorithms must be distributed and robust in the face of localization error and degraded communications.This work presents an investigation into one particular swarm strategy for a group of AUVs, termed formation control, with consideration to the constraints of the underwater domain. Four formation control algorithms, each developed and tested within the MOOS-IvP framework, are presented. In addition, a 'formation quality' metric is introduced. This metric is used in conjunction with a measure of formation energy expenditure to compare the efficacy of each behaviour during construction of a desired formation, and formation maintenance while it drifts in ocean currents. This metric is also used to compare robustness of each algorithm in the presence of vehicle failure and changing communication rate.

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“…Some work (Caffaz et al, 2010;Claus et al, 2010b;Isa and Arshad, 2012). Claus et al (2010a) developed a HDUG with aeronautical foldable propeller placed in the stern of a Slocum glider to achieve leveled flight.…”

Section: Introductionmentioning

confidence: 99%